New energy harvester walking drive control system and method

Abstract

This invention discloses a new energy harvester walking drive control system and method, belonging to the field of new energy harvester drive control technology. It collects harvester walking data through a signal acquisition module, and the main control module determines the current working scenario based on the current walking data and generates corresponding drive signals. This achieves precise perception of the working scenario and the harvester's driving state, eliminating the need for subjective judgment by the driver. Drive mode switching is more timely, ensuring drive energy consumption matches the working scenario, reducing driver workload, and improving work efficiency. Furthermore, it requires no major modifications to the harvester's power components; only the addition of a signal acquisition module and a main control module is needed, resulting in low modification costs. This invention solves the problem of low drive energy efficiency in existing new energy harvester walking drive control systems, which require subjective judgment and operation by the driver based on the working scenario.

Description

Technical Field

[0001] This invention relates to the field of new energy harvester drive control technology, specifically to a new energy harvester walking drive control system and method. Background Technology

[0002] The existing walking drive control system for new energy harvesters can only switch between speed and torque control modes manually. This requires the driver to make subjective judgments and operate the system based on the working scenario, which leads to problems such as untimely switching and large human judgment errors. This can easily result in insufficient power when climbing slopes or muddy roads, excessive energy consumption when operating on flat roads, and damage to the motor / battery due to load imbalance. Furthermore, it is only equipped with a walking speed sensor, which has a single sensing dimension and cannot accurately capture key parameters of the working scenario (such as slope and soil resistance) and equipment status (such as motor load and remaining battery power). At the same time, the control logic is a simple open-loop adjustment, which only fine-tunes the control commands based on the actual speed. This makes it difficult to meet the diverse needs of new energy harvesters in field harvesting, transportation, climbing slopes, and muddy extrication. The intelligence, adaptability, and reliability of the system all need to be improved.

[0003] Chinese patent, publication number CN111512777A, discloses an intelligent control system and control method for a rapeseed harvester. It determines thermal faults in the power cable during operation by performing thermal infrared image detection on the power cable, and automatically detects the height of the rapeseed shoots using a laser module. It can automatically adjust the cutting height according to the detected height, avoiding manual adjustment. However, it only improves the harvesting function by automation, but lacks corresponding improvements to its drive method. Its energy utilization rate and adaptability to different scenarios still need to be improved. Summary of the Invention

[0004] This invention addresses the problem of low drive efficiency in existing new energy harvesters, which require drivers to make subjective judgments and operate based on the work scenario. It provides a new energy harvester drive control system and method. The system collects harvester travel data through a signal acquisition module, and the main control module determines the current work scenario based on this data and generates corresponding drive signals. This achieves precise perception of the work scenario and the harvester's drive status, eliminating the need for driver subjective judgment. Drive mode switching is more timely, ensuring drive energy consumption matches the work scenario. It also reduces driver workload and improves work efficiency. Furthermore, it requires no major modifications to the harvester's power components; only the addition of a signal acquisition module and a main control module is needed, resulting in low modification costs.

[0005] In a first aspect, one technical solution provided in this embodiment of the invention is: a new energy harvester walking drive control system, including a signal acquisition module, a main control module, a drive execution module, a status display module, a drive motor, and a drive power supply; The signal acquisition module is used to collect the current walking data of the harvester and connects to the signal input terminal of the main control module through the signal output interface; The main control module generates drive signals and display signals based on the current walking data. The drive signals are sent to the input of the drive execution module through the drive signal output terminal, and the display signals are connected to the display input of the status display module through the display signal output terminal. The power supply terminal of the drive execution module is connected to the positive terminal of the drive power supply via a power switch, and the output terminal is connected to the drive motor. The negative terminal of the drive power supply and the main control module are both connected to the ground terminal.

[0006] In this solution, a signal acquisition module collects real-time multi-source current travel data of the harvester. The main control module compares the values ​​and determines the current driving scenario based on the comparison result and a pre-set scenario-travel data mapping table. It then switches to the corresponding driving mode based on the current driving scenario and generates a corresponding driving signal to control the drive motor. This eliminates the need for subjective judgment by the driver, reducing the driver's workload and improving the harvester's energy efficiency. The drive execution module controls the motor's operation based on the driving signal and sets corresponding driving modes for different driving scenarios, accurately adapting to all actual operating scenarios such as field harvesting, relocation and transportation, climbing slopes, and mud extrication, avoiding problems of insufficient power or excessive energy consumption.

[0007] Preferably, the signal acquisition module includes a walking speed sensor, a slope sensor, a soil resistance sensor, a motor load sensor, and a power sensor. The walking speed sensor collects the walking speed of the harvester in real time, the slope sensor collects the tilt angle of the harvester body in real time, and the soil resistance sensor collects the contact resistance between the harvester's walking wheels and the soil in real time. The motor load sensor collects the motor load rate and motor speed in real time, and the power sensor collects the remaining power of the drive power supply and the output current of the drive power supply in real time.

[0008] In this solution, the signal acquisition module covers a dual-dimensional perception dimension of scene and equipment status. Various sensors perform their respective functions and complement each other's data, accurately capturing the core parameters of the harvester under all operating conditions. This provides comprehensive and accurate raw data support for subsequent signal fusion and scene determination. Compared with single speed perception, it can effectively avoid perception deviations caused by field vibrations and complex terrain, allowing the controller to accurately determine scenes such as flat roads, uphill climbs, and muddy conditions. At the same time, it can monitor the operating status of the motor and power supply in real time, providing a basis for intelligent matching of drive modes and equipment overload protection, thus improving the accuracy, intelligence, and reliability of system control.

[0009] Preferably, the walking speed sensor and the slope sensor are mounted on the chassis of the harvester. The soil resistance sensor is installed at the hub of the harvester's walking wheel; The motor load sensor is integrated on the drive motor; The power sensor is integrated into the drive power supply.

[0010] In this solution, each sensor is precisely installed near the object being sensed. The speed and slope sensors on the chassis can accurately capture the vehicle's driving status, the soil resistance sensors at the wheel hubs can directly collect wheel resistance data, and the integrated sensors on the motor and power supply can obtain the core operating parameters of the equipment in real time. This significantly improves the accuracy and real-time performance of the collected data and reduces signal transmission interference, providing a reliable data foundation for subsequent signal fusion, scene determination, and pattern matching. At the same time, the compact installation method adapts to the working space layout of the harvester and does not require major modifications to the harvester's power components, resulting in lower implementation costs.

[0011] Preferably, the status display module includes a touch screen and an alarm unit; The touch screen is used to display the harvester's current travel data and current drive mode in real time. The drive modes include speed priority mode, torque priority mode, anti-slip and get-out-of-trouble mode, energy-saving cruise mode, and load protection mode. The alarm unit is used to issue alarm signals when any module in the control system malfunctions.

[0012] In this solution, the status display module combines data visualization and anomaly warning. The touch screen can display walking data and five driving modes in real time, allowing the driver to intuitively grasp the equipment's operating status and facilitate manual intervention and operational judgment. The alarm unit will promptly issue a signal when the module malfunctions, which can quickly remind the driver to check the problem, prevent the fault from escalating and damaging the equipment, ensure the safety and stability of the harvester operation, and improve the convenience of human-machine interaction.

[0013] Preferably, the control system further includes a protection module and a switching module, wherein the switching module is disposed between the drive power supply and the drive execution module; One end of the protection module is connected to one end of the switch module, and the other end is connected to the positive terminal of the drive power supply.

[0014] In this solution, the protection module is connected in series with the switch module between the power supply and the drive execution module to form dual circuit protection. It can monitor circuit abnormalities in real time. Once overload, short circuit or other problems occur, the power supply can be quickly cut off through the switch module to prevent the fault from spreading and damaging core components such as motors and drivers. It can effectively protect the drive power supply and the entire control system, and greatly improve the circuit safety and equipment operation stability during harvester operation.

[0015] Secondly, one technical solution provided in this embodiment of the invention is: a walking drive control method for a new energy harvester, comprising the following steps: S1. Real-time acquisition of the harvester's current walking data, and multi-source data fusion processing of the current walking data to obtain comprehensive data; S2. Perform numerical analysis on the comprehensive data, and extract the core features of the scene from the current walking data based on the analysis results to obtain the core feature parameter set of the scene. S3. Based on a multi-parameter collaborative scene determination mechanism, the harvester's current walking scene is determined by analyzing the data in the core feature parameter set of the scene. S4. Determine the corresponding drive mode based on the current walking scenario of the harvester, and control the operation of the harvester's drive motor based on the corresponding drive mode.

[0016] This solution achieves intelligent control of the harvester's walking drive through standardized procedures. First, walking data is collected from multiple sources and fused to obtain comprehensive data, avoiding the limitations of single data points and providing a complete basis for subsequent judgments. Then, core characteristic parameters of the scene are extracted through numerical analysis, streamlining invalid data and making scene determination more accurate and efficient. By relying on a multi-parameter collaborative judgment mechanism to determine the walking scene, misjudgments under complex field conditions can be effectively avoided, thus accurately matching the driving mode for different scenarios such as flat roads and uphill climbs. Finally, the motor is controlled according to the matched mode, achieving precise adaptation between the driving mode and the working scene, replacing manual switching, reducing the driver's workload, and improving work efficiency. Simultaneously, the motor output is made more aligned with the working conditions, balancing power output and energy consumption optimization. Furthermore, the adapted driving mode reduces the risk of equipment overload, extends the service life of core components, and significantly improves the intelligence, stability, and economy of the new energy harvester's walking control.

[0017] Preferably, in step S1, the current walking data of the harvester is collected in real time, and multi-source data fusion processing is performed on the current walking data to obtain comprehensive data, including the following steps: The machine's walking speed, tilt angle, contact resistance between the walking wheels and the soil, motor load rate, motor speed, remaining power of the drive power supply, and output current of the drive power supply are collected in real time as current walking data. Standard walking data is obtained by uniformly calibrating the current walking data to the dimensionless range of 0-1; the comprehensive data is obtained by weighted summation of the standard walking data based on the preset weight allocation.

[0018] In this solution, multi-source data fusion of current walking data makes data collection more comprehensive, covering all dimensions of parameters related to harvester movement, terrain, and equipment operation, laying a complete data foundation for subsequent data comparison. Normalization calibration eliminates the dimensional differences of different parameters, avoiding the influence of different units on the fusion results of a single parameter. Combined with preset weights and weighted summation, comprehensive data is obtained, which highlights the judgment value of core parameters such as terrain and resistance, weakens the interference of secondary parameters, and makes the fused comprehensive data more consistent with actual working conditions. This improves the accuracy and rationality of subsequent scenario judgments and provides reliable data support for drive mode matching.

[0019] As a preferred embodiment, in S2, numerical analysis is performed on the comprehensive data, and based on the analysis results, the core features of the scene are extracted from the current walking data to obtain a set of core feature parameters of the scene, including the following steps: If the comprehensive data is greater than or equal to the preset threshold, the real-time walking speed of the harvester, the real-time tilt angle of the vehicle body, the real-time contact resistance of the soil, the real-time load rate of the motor, and the real-time speed of the motor will be used as the core features of the scene to construct the core feature parameter set of the scene. If the overall data is less than the preset threshold, the harvester will maintain the current drive mode.

[0020] In this solution, differentiated processing is achieved through comprehensive data threshold determination. This not only accurately extracts core feature parameters but also simplifies invalid calculations. When the comprehensive data reaches the threshold, core parameters such as speed, slope, resistance, motor load, and rotational speed are extracted to construct a parameter set, providing a key basis for subsequent scenario determination and ensuring the accuracy of the determination. If the threshold is not reached, the current drive mode is maintained, avoiding meaningless feature extraction and scenario determination, reducing the computing power consumption of the main control module, and preventing problems such as vehicle body vibration and power sudden changes caused by frequent switching of drive modes. This balances control accuracy and system operating efficiency, making drive control more adaptable to the dynamic working conditions of harvester field operations.

[0021] As a preferred embodiment, in S3, based on a multi-parameter collaborative scene determination mechanism, scene determination is performed on the data in the core feature parameter set of the scene to determine the current walking scene of the harvester, including the following steps: If the real-time tilt angle of the vehicle body is in the first angle range, the real-time contact resistance of the soil is less than or equal to F1, and the real-time load rate of the motor is less than a%, then it is a flat road scenario. If the real-time tilt angle of the vehicle body is not in the first angle range, and the real-time load rate of the motor is greater than or equal to a%, or the real-time contact resistance of the soil is greater than F1 and the real-time tilt angle of the vehicle body is greater than or equal to c, then it is a climbing scenario. If the real-time contact resistance of the soil is greater than or equal to F2 or the fluctuation rate of the real-time speed of the motor within time t is greater than b%, then it is a muddy scenario. If the real-time walking speed of the harvester is greater than or equal to the rated speed for a continuous time T, it is considered a long-distance relocation scenario. The scenarios mentioned above, ranked from highest to lowest priority, are: muddy scenario, uphill scenario, long-distance transition scenario, flat road scenario, and other scenarios.

[0022] This solution defines different scenarios through multi-parameter collaboration, replacing subjective human judgment with quantitative indicators such as angle, resistance, and load rate, making scenario determination more accurate and objective, and effectively avoiding the problem of misjudgment based on a single parameter. At the same time, it sets clear quantitative thresholds for each scenario, making the judgment rules clear and easy to implement in engineering, and adapting to the computing power requirements of agricultural machinery controllers. By setting judgment priorities according to the complexity of working conditions, complex and high-resistance scenarios are judged first, ensuring the rationality of drive mode matching. In addition, it covers the core operating scenarios of harvesters, and the judgment results can accurately match the corresponding drive modes, providing a reliable decision-making basis for subsequent intelligent control and improving the system's adaptability to complex field conditions.

[0023] Preferably, in step S4, the corresponding drive mode is determined based on the current walking scenario of the harvester, and the drive motor of the harvester is controlled to operate based on the corresponding drive mode, including the following steps: In a flat road scenario, select the speed priority mode to control the motor speed fluctuation rate to be less than c% within time t. In the case of climbing, the torque priority mode is selected, which adjusts the motor torque based on the real-time tilt angle of the vehicle body and increases the output current of the drive power supply to the rated value. In muddy conditions, select the anti-slip and get-out-of-trouble mode to increase the torque of the wheel corresponding to the motor's real-time speed fluctuation rate within time t that is greater than b%, and reduce the torque of other wheels. For long-distance transfer scenarios, select the energy-saving cruise mode, which adjusts the motor output power based on the remaining power of the drive power supply. For other scenarios, select the load protection mode to reduce the motor speed, torque, and drive power supply output current to below the rated value for a duration of t0.

[0024] In this solution, through the specific control methods of the aforementioned drive modes, precise and quantitative matching between the walking scenario and the drive mode is achieved. Different scenarios correspond to exclusive control logic: stable speed on flat roads ensures smooth operation; torque adjustment and current increase supplement power when climbing hills; differentiated adjustment of wheel torque in muddy scenarios to prevent slippage and get out of trouble; power adjustment based on power supply to balance endurance during long-distance transfers; and load reduction to protect core components in other scenarios. The control logic is tailored to the operational needs of each scenario. At the same time, it replaces manual operation and achieves intelligent and seamless switching of drive, which not only reduces the driver's operating intensity and improves work efficiency, but also allows the power output to adapt to the working conditions, reducing energy consumption and equipment overload risks, and taking into account the practicality of operation, equipment safety, and energy economy.

[0025] The beneficial effects of this invention are as follows: This invention collects multi-dimensional harvester walking data through a signal acquisition module, and the main control module determines the current working scenario based on the current walking data and generates corresponding drive signals. This achieves accurate perception of the working scenario and the harvester's driving status, eliminating the need for subjective judgment by the driver. The drive mode switching is more timely, ensuring that the drive energy consumption matches the working scenario. It also reduces the driver's workload and improves working efficiency. Furthermore, it does not require significant modifications to the harvester's power components; only the addition of a signal acquisition module and a main control module is needed, resulting in low modification costs.

[0026] The above description of the invention is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0027] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings. The drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings.

[0028] Figure 1 This is a schematic diagram of the walking drive control system for the new energy harvester of the present invention; Figure 2 This is a schematic diagram showing the positions of each module of the walking drive control system of the present invention on a new energy harvester; Figure 3 This is a flowchart of the new energy harvester walking drive control method of the present invention; In the diagram: 1-Main control module, 2-Drive execution module, 3-Drive motor, 4-Drive power supply, 5-Protection module, 6-Switch module, 7-Signal acquisition module, 8-Status display module, 9-Control handle. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only one preferred embodiment of this invention and are only used to explain this invention. They do not limit the scope of protection of this invention. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0030] Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, many of the operations (or steps) can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but it may also have additional steps not included in the figures; the process may correspond to a method, function, procedure, subroutine, subroutine, etc.

[0031] Example 1: To address the issue of low drive efficiency in existing new energy harvesters where the driver's subjective judgment and operation based on the work scenario are required, this example provides a new energy harvester drive control system, such as... Figure 1 As shown, it includes a signal acquisition module 7, a main control module 1, a drive execution module 2, a status display module 8, a drive motor 3, and a drive power supply 4; The signal acquisition module 7 is used to acquire the current walking data of the harvester and is connected to the signal input terminal of the main control module 1 through the signal output interface; The main control module 1 generates drive signals and display signals based on the current walking data. The drive signals are sent to the input of the drive execution module 2 through the drive signal output terminal. The output of the drive execution module 2 is connected to the drive motor 3. The power supply terminal of the drive execution module 2 is connected to the positive terminal of the drive power supply 4 via a power switch; The display input terminal of the status display module 8 is connected to the display signal output terminal of the main control module 1; The negative terminal of the drive power supply 4 and the main control module 1 are both connected to the ground terminal.

[0032] In this embodiment, the signal acquisition module 7 includes a walking speed sensor, a slope sensor, a soil resistance sensor, a motor load sensor, and a power sensor; The walking speed sensor collects the walking speed of the harvester in real time, the slope sensor collects the tilt angle of the harvester body in real time, and the soil resistance sensor collects the contact resistance between the harvester's walking wheels and the soil in real time. The motor load sensor collects the motor load rate and motor speed in real time, and the power sensor collects the remaining power and output current of the drive power supply 4 in real time.

[0033] The signal acquisition module 7 in this embodiment covers a dual-dimensional perception dimension of scene and equipment status. Various sensors perform their respective functions and complement each other's data, accurately capturing the core parameters of the harvester under all operating conditions. This provides comprehensive and accurate raw data support for subsequent signal fusion and scene determination. Compared with single speed perception, it can effectively avoid perception deviations caused by field vibrations and complex terrain, allowing the controller to accurately determine scenes such as flat roads, uphill climbs, and muddy conditions. At the same time, it can monitor the operating status of the motor and power supply in real time, providing a basis for intelligent matching of drive modes and equipment overload protection, thus improving the accuracy, intelligence, and reliability of system control.

[0034] In this embodiment, as Figure 2 As shown, the walking speed sensor and the slope sensor are installed on the chassis of the harvester. The soil resistance sensor is installed at the hub of the harvester's walking wheel; The motor load sensor is integrated on the drive motor 3; The power sensor is integrated into the drive power supply 4; The handle is used to provide the target speed required by the harvester and is controlled by the driver.

[0035] In this embodiment, each sensor is precisely installed near the sensing object. The speed and slope sensors on the chassis can accurately capture the vehicle's driving status, the soil resistance sensors at the wheel hubs can directly collect wheel resistance data, and the integrated sensors on the motor and power supply can obtain the core operating parameters of the equipment in real time. This greatly improves the accuracy and real-time performance of the collected data and reduces signal transmission interference, providing a reliable data foundation for subsequent signal fusion, scene determination, and pattern matching. At the same time, the compact installation method is compatible with the working space layout of the harvester and does not require major modifications to the harvester's power components, resulting in lower implementation costs.

[0036] In this embodiment, the status display module 8 includes a touch screen and an alarm unit; The touch screen is used to display the harvester's current travel data and current drive mode in real time. The drive modes include speed priority mode, torque priority mode, anti-slip and get-out-of-trouble mode, energy-saving cruise mode, and load protection mode. The alarm unit is used to issue alarm signals when any module in the control system malfunctions.

[0037] Specifically, the collected current travel data is compared with a preset collaborative judgment table to determine the current driving scenario, and then the corresponding driving mode is adopted. For example, if the soil resistance sensor detects that the contact resistance between the harvester's traveling wheels and the soil is less than 200N, the slope sensor collects the harvester's tilt angle in real time as being between -5° and 12°, and the motor load sensor collects the motor load rate as being less than 60%, then the current scenario is determined to be a flat road scenario, and the speed priority mode is adopted. In this mode, the speed difference is obtained based on the actual speed of the harvester and the target speed that the driver wants to achieve using the control handle 9, and the rotation speed of the drive motor 3 is controlled to make the actual speed tend towards the target speed. For a period of time, such as 10 minutes, the fluctuation rate of the motor speed is kept less than or equal to ±5% to maintain the stability of the harvester's travel speed.

[0038] If the harvester's tilt angle is greater than or equal to 12° and the motor load rate is greater than or equal to 60%, or the soil contact resistance is greater than or equal to 200N and the harvester's tilt angle is greater than or equal to 8°, then the current scenario is determined to be a climbing scenario or a similar scenario such as loading onto a flatbed truck, and a torque priority mode is adopted. In this mode, the motor output torque is increased and the speed priority is reduced to ensure sufficient power output and avoid stalling due to insufficient power. Specifically, the target motor output torque = 1.2 * rated torque * slope coefficient. When the harvester's tilt angle is greater than or equal to 15°, the slope coefficient is increased to 1.2. When the harvester's tilt angle is between 8° and 15°, the slope coefficient is reduced to 1. At the same time, the fluctuation limit of the motor speed is relaxed, allowing the motor speed to fluctuate by ±10% in this drive mode. At the same time, the output current of the drive battery is increased to 100% of the rated output current.

[0039] If the contact resistance of the soil is greater than or equal to 300N or the speed difference between the walking wheels of the harvester is greater than or equal to 10% and the contact resistance of the soil is greater than or equal to 200N, then the current scenario is determined to be a muddy or soft soil area, and an anti-slip and get-out-of-trouble mode is adopted. At this time, it is necessary to detect the speed difference of the walking wheels in real time and adopt a torque alternating output strategy to adjust the torque of the left and right wheels to achieve get-out-of-trouble and anti-slip. Specifically, the torque of the slipping wheel is increased, such as to 1.1 times the rated torque, and the torque of the non-slipping wheel is reduced, such as to 0.7 times the rated torque, and the switching is alternated, with an alternation cycle of 0.5 seconds. At the same time, the speed of the drive motor 3 is limited to 60% of the rated speed.

[0040] If the vehicle is traveling on a flat road and the actual speed is greater than or equal to 15 km / h, and the continuous driving time is greater than or equal to 30 seconds, then the scenario is considered to be a long-distance transfer of the harvester or similar scenario. In this scenario, it is necessary to optimize the motor output power based on the battery SOC status to minimize energy consumption while ensuring the set speed. Specifically, the upper limit of the output power of the drive motor 3 is set according to the battery SOC status. For example, the upper limit of the output power of the drive motor 3 = 0.8 * rated power * battery coefficient. When the battery SOC is greater than or equal to 50%, the battery coefficient is 1, and when the battery SOC is between 20% and 50%, the battery coefficient is 0.8.

[0041] If the scenario determined based on the current travel data does not meet any of the above scenarios, the load protection mode will be activated, controlling the motor load rate to be less than or equal to 80%, the speed and torque of drive motor 3 will be reduced to 50%-60% of the rated value, and the output current of drive battery will be reduced to 70% of the rated value for 10 minutes.

[0042] In this embodiment, the status display module 8 combines data visualization and anomaly warning. The touch screen can display walking data and five driving modes in real time, allowing the driver to intuitively grasp the equipment's operating status and facilitate manual intervention and operational judgment. The alarm unit promptly sends a signal when the module malfunctions, which can quickly remind the driver to check for problems, prevent the fault from escalating and damaging the equipment, ensure the safety and stability of the harvester operation, and improve the convenience of human-machine interaction.

[0043] In this embodiment, the control system further includes a protection module 5 and a switch module 6, wherein the switch module 6 is disposed between the drive power supply 4 and the drive execution module 2; One end of the protection module 5 is connected to one end of the switch module 6, and the other end is connected to the positive terminal of the drive power supply 4.

[0044] In this embodiment, the protection module 5, together with the switch module 6, is connected in series between the power supply and the drive execution module 2 to form dual circuit protection. It can monitor circuit abnormalities in real time. Once overload, short circuit or other problems occur, the power supply path can be quickly cut off through the switch module 6 to prevent the fault from spreading and damaging core components such as the motor and driver. It can effectively protect the drive power supply 4 and the entire control system, and greatly improve the circuit safety and equipment operation stability during harvester operation.

[0045] Example 2: This example also provides a method for controlling the walking drive of a new energy harvester, such as... Figure 2 As shown, it includes the following steps: S1: Real-time acquisition of the harvester's current walking data, and multi-source data fusion processing of the current walking data to obtain comprehensive data.

[0046] In this embodiment, the current walking data of the harvester is collected in real time, and multi-source data fusion processing is performed on the current walking data to obtain comprehensive data, including the following steps: The machine's walking speed, tilt angle, contact resistance between the walking wheels and the soil, motor load rate, motor speed, remaining power of the drive power supply 4, and output current of the drive power supply 4 are collected in real time as current walking data. Standard walking data is obtained by uniformly calibrating the current walking data to the dimensionless range of 0-1; the comprehensive data is obtained by weighted summation of the standard walking data based on the preset weight allocation.

[0047] Specifically, the calculation formula for uniformly calibrating the current walking data is as follows: Where 'a' represents the type of current walking data, for example, '1' represents walking speed, '2' represents vehicle tilt angle, etc. For standardized walking data, For the corresponding current walking data, and These represent the theoretical minimum and maximum values ​​for the corresponding data.

[0048] The preset weighting is as follows: slope standardization signal 0.35, soil resistance standardization signal 0.30, walking speed standardization signal 0.15, motor load standardization signal 0.1, and battery SOC standardization signal 0.1. The motor load standardization signal can be further subdivided into motor load rate standard signal and motor speed standard signal, each with an average weight of 0.05. The battery SOC standardization signal can be further subdivided into drive power supply 4 remaining power standard signal and drive power supply 4 output current standard signal, each with an average weight of 0.05. Finally, a weighted sum is performed to obtain the comprehensive data. A higher comprehensive data value indicates greater terrain resistance and more complex operating conditions for the harvester.

[0049] This embodiment achieves more comprehensive data collection by fusing multi-source data from the current walking data, covering all dimensions of parameters related to harvester movement, terrain, and equipment operation, thus laying a complete data foundation for subsequent data comparison. Normalization calibration eliminates the dimensional differences between different parameters, preventing single parameters from affecting the fusion results due to different units. Combined with preset weights and weighted summation, the comprehensive data is obtained, highlighting the value of core parameters such as terrain and resistance while mitigating interference from secondary parameters. This makes the fused comprehensive data more closely reflect actual operating conditions, improving the accuracy and rationality of subsequent scenario determinations and providing reliable data support for drive mode matching.

[0050] S2: Perform numerical analysis on the comprehensive data, and extract the core features of the scene from the current walking data based on the analysis results to obtain the core feature parameter set of the scene.

[0051] In this embodiment, numerical analysis is performed on the comprehensive data, and based on the analysis results, the core features of the scene are extracted from the current walking data to obtain the core feature parameter set of the scene, including the following steps: If the comprehensive data is greater than or equal to the preset threshold, the real-time walking speed of the harvester, the real-time tilt angle of the vehicle body, the real-time contact resistance of the soil, the real-time load rate of the motor, and the real-time speed of the motor will be used as the core features of the scene to construct the core feature parameter set of the scene. If the overall data is less than the preset threshold, the harvester will maintain the current drive mode.

[0052] This embodiment achieves differentiated processing through comprehensive data threshold determination, which not only accurately extracts core feature parameters but also simplifies invalid calculations. When the comprehensive data reaches the threshold, core parameters such as speed, slope, resistance, motor load, and rotational speed are extracted to construct a parameter set, providing key basis for subsequent scenario determination and ensuring the accuracy of the determination. If the threshold is not reached, the current driving mode is maintained, avoiding meaningless feature extraction and scenario determination, reducing the computing power consumption of the main control module 1, and preventing problems such as vehicle body vibration and power sudden changes caused by frequent switching of driving modes. It takes into account both control accuracy and system operating efficiency, making the drive control more adaptable to the dynamic working conditions of the harvester in the field.

[0053] S3: Based on a multi-parameter collaborative scene determination mechanism, the harvester determines the current walking scene by analyzing the data in the core feature parameter set of the scene.

[0054] In this embodiment, based on a multi-parameter collaborative scene determination mechanism, the harvester's current travel scene is determined by analyzing the data in the core feature parameter set of the scene, including the following steps: If the real-time tilt angle of the vehicle body is in the first angle range, the real-time contact resistance of the soil is less than or equal to F1, and the real-time load rate of the motor is less than a%, then it is a flat road scenario. If the real-time tilt angle of the vehicle body is not in the first angle range, and the real-time load rate of the motor is greater than or equal to a%, or the real-time contact resistance of the soil is greater than F1 and the real-time tilt angle of the vehicle body is greater than or equal to c, then it is a climbing scenario. If the real-time contact resistance of the soil is greater than or equal to F2 or the fluctuation rate of the real-time speed of the motor within time t is greater than b%, then it is a muddy scenario. If the real-time walking speed of the harvester is greater than or equal to the rated speed for a continuous time T, it is considered a long-distance relocation scenario. The scenarios mentioned above, ranked from highest to lowest priority, are: muddy scenario, uphill scenario, long-distance transition scenario, flat road scenario, and other scenarios.

[0055] This embodiment defines different scenarios through multi-parameter collaboration, replacing subjective human judgment with quantitative indicators such as angle, resistance, and load rate, making scenario determination more accurate and objective, and effectively avoiding the problem of misjudgment by a single parameter. At the same time, it sets clear quantitative thresholds for each scenario, making the judgment rules clear and easy to implement in engineering, and adapting to the computing power requirements of agricultural machinery controllers. By setting judgment priorities according to the complexity of working conditions, complex and high-resistance scenarios are judged first, ensuring the rationality of drive mode matching. In addition, it covers the core operating scenarios of harvesters, and the judgment results can accurately match the corresponding drive modes, providing a reliable decision-making basis for subsequent intelligent control and improving the system's adaptability to complex field conditions.

[0056] S4: Determine the corresponding drive mode based on the current walking scenario of the harvester, and control the operation of the harvester's drive motor 3 based on the corresponding drive mode.

[0057] In this embodiment, the corresponding driving mode is determined based on the current walking scenario of the harvester, and the drive motor 3 of the harvester is controlled to operate based on the corresponding driving mode, including the following steps: In a flat road scenario, select the speed priority mode to control the motor speed fluctuation rate to be less than c% within time t. In the case of climbing, select the torque priority mode, adjust the motor torque based on the real-time tilt angle of the vehicle body, and increase the output current of the drive power supply 4 to the rated value. In muddy conditions, select the anti-slip and get-out-of-trouble mode to increase the torque of the wheel corresponding to the motor's real-time speed fluctuation rate within time t that is greater than b%, and reduce the torque of other wheels. For long-distance transfer scenarios, select the energy-saving cruise mode and adjust the motor output power based on the remaining power of drive power supply 4. For other scenarios, select the load protection mode to reduce the motor speed, torque, and drive power supply output current to below the rated value for a duration of t0.

[0058] This embodiment achieves precise and quantitative matching between the driving scenario and the driving mode through the specific control method of the aforementioned driving mode. Different scenarios correspond to exclusive control logic: stable speed on flat roads ensures smooth operation; torque adjustment and current increase supplement power when climbing hills; differentiated adjustment of wheel torque in muddy scenarios to prevent slippage and get out of trouble; power adjustment based on power supply to balance endurance during long-distance transfers; and load reduction to protect core components in other scenarios. The control logic fits the operational needs of each scenario. At the same time, it replaces manual operation and realizes intelligent and seamless switching of the drive, which not only reduces the driver's operating intensity and improves work efficiency, but also allows the power output to adapt to the working conditions, reduces energy consumption and equipment overload risk, and balances operational practicality, equipment safety and energy economy.

[0059] As can be seen from the above embodiments, it has at least the following substantial effects: (1) The present invention collects the current walking data of the harvester from multiple sources in real time by setting the signal acquisition module 7. After the main control module 1 performs numerical comparison, it determines the current driving scenario based on the comparison result and the pre-set scenario-walking data mapping table. Based on the current driving scenario, it switches to the corresponding driving mode and generates the corresponding driving signal to control the operation of the drive motor 3. No subjective judgment is required from the driver, which reduces the driver's operating intensity and improves the energy efficiency of the harvester. (2) The present invention controls the operation of the motor according to the drive signal through the drive execution module 2, and sets the corresponding drive mode according to different drive scenarios, which accurately adapts to all actual operation scenarios such as field harvesting, transfer transportation, climbing slopes and getting out of mud, avoiding the problems of insufficient power or excessive energy consumption.

[0060] The specific embodiments described above are preferred embodiments of the present invention and are not intended to limit the specific scope of the present invention. The scope of the present invention includes, but is not limited to, these specific embodiments. All equivalent changes made in accordance with the shape and structure of the present invention are within the protection scope of the present invention.

Claims

1. A new energy harvester walking drive control system, characterized in that: It includes a signal acquisition module, a main control module, a drive execution module, a status display module, a drive motor, and a drive power supply; The signal acquisition module is used to collect the current walking data of the harvester and connects to the signal input terminal of the main control module through the signal output interface; The main control module generates drive signals and display signals based on the current walking data. The drive signals are sent to the input of the drive execution module through the drive signal output terminal, and the display signals are connected to the display input of the status display module through the display signal output terminal. The power supply terminal of the drive execution module is connected to the positive terminal of the drive power supply via a power switch, and the output terminal is connected to the drive motor. The negative terminal of the drive power supply and the main control module are both connected to the ground terminal.

2. The new energy harvester walking drive control system according to claim 1, characterized in that: The signal acquisition module includes a walking speed sensor, a slope sensor, a soil resistance sensor, a motor load sensor, and a power sensor. The walking speed sensor collects the walking speed of the harvester in real time, the slope sensor collects the tilt angle of the harvester body in real time, and the soil resistance sensor collects the contact resistance between the harvester's walking wheels and the soil in real time. The motor load sensor collects the motor load rate and motor speed in real time, and the power sensor collects the remaining power of the drive power supply and the output current of the drive power supply in real time.

3. The new energy harvester walking drive control system according to claim 2, characterized in that: The walking speed sensor and the slope sensor are installed on the chassis of the harvester; The soil resistance sensor is installed at the hub of the harvester's walking wheel; The motor load sensor is integrated on the drive motor; The power sensor is integrated into the drive power supply.

4. The new energy harvester walking drive control system according to claim 1, characterized in that: The status display module includes a touch screen and an alarm unit; The touch screen is used to display the harvester's current travel data and current drive mode in real time. The drive modes include speed priority mode, torque priority mode, anti-slip and get-out-of-trouble mode, energy-saving cruise mode, and load protection mode. The alarm unit is used to issue alarm signals when any module in the control system malfunctions.

5. The new energy harvester walking drive control system according to claim 1, characterized in that: The control system further includes a protection module and a switching module, wherein the switching module is disposed between the drive power supply and the drive execution module; One end of the protection module is connected to one end of the switch module, and the other end is connected to the positive terminal of the drive power supply.

6. A method for controlling the walking drive of a new energy harvester, applicable to the walking drive control system of a new energy harvester as described in any one of claims 1-5, characterized in that: Includes the following steps: S1. Real-time acquisition of the harvester's current walking data, and multi-source data fusion processing of the current walking data to obtain comprehensive data; S2. Perform numerical analysis on the comprehensive data, and extract the core features of the scene from the current walking data based on the analysis results to obtain the core feature parameter set of the scene. S3. Based on a multi-parameter collaborative scene determination mechanism, the harvester's current walking scene is determined by analyzing the data in the core feature parameter set of the scene. S4. Determine the corresponding drive mode based on the current walking scenario of the harvester, and control the operation of the harvester's drive motor based on the corresponding drive mode.

7. The new energy harvester walking drive control method according to claim 6, characterized in that: In S1, the current walking data of the harvester is collected in real time, and multi-source data fusion processing is performed on the current walking data to obtain comprehensive data, including the following steps: The machine's walking speed, tilt angle, contact resistance between the walking wheels and the soil, motor load rate, motor speed, remaining power of the drive power supply, and output current of the drive power supply are collected in real time as current walking data. Standard walking data is obtained by uniformly calibrating the current walking data to the dimensionless range of 0-1; the comprehensive data is obtained by weighted summation of the standard walking data based on the preset weight allocation.

8. The new energy harvester walking drive control method according to claim 7, characterized in that: In S2, numerical analysis is performed on the comprehensive data. Based on the analysis results, the core features of the scene are extracted from the current walking data to obtain the core feature parameter set of the scene, including the following steps: If the comprehensive data is greater than or equal to the preset threshold, the real-time walking speed of the harvester, the real-time tilt angle of the vehicle body, the real-time contact resistance of the soil, the real-time load rate of the motor, and the real-time speed of the motor will be used as the core features of the scene to construct the core feature parameter set of the scene. If the overall data is less than the preset threshold, the harvester will maintain the current drive mode.

9. The new energy harvester walking drive control method according to claim 8, characterized in that: In S3, based on a multi-parameter collaborative scene determination mechanism, the harvester's current walking scene is determined by analyzing the data in the core feature parameter set of the scene. This includes the following steps: If the real-time tilt angle of the vehicle body is in the first angle range, the real-time contact resistance of the soil is less than or equal to F1, and the real-time load rate of the motor is less than a%, then it is a flat road scenario. If the real-time tilt angle of the vehicle body is not in the first angle range, and the real-time load rate of the motor is greater than or equal to a%, or the real-time contact resistance of the soil is greater than F1 and the real-time tilt angle of the vehicle body is greater than or equal to c, then it is a climbing scenario. If the real-time contact resistance of the soil is greater than or equal to F2 or the fluctuation rate of the real-time speed of the motor within time t is greater than b%, then it is a muddy scenario. If the real-time walking speed of the harvester is greater than or equal to the rated speed for a continuous time T, it is a long-distance transfer scenario; otherwise, it is another scenario. The scenarios mentioned above, ranked from highest to lowest priority, are: muddy scenario, uphill scenario, long-distance transition scenario, flat road scenario, and other scenarios.

10. The new energy harvester walking drive control method according to claim 9, characterized in that: In S4, the corresponding drive mode is determined based on the current walking scenario of the harvester, and the drive motor of the harvester is controlled to operate based on the corresponding drive mode, including the following steps: In a flat road scenario, select the speed priority mode to control the motor speed fluctuation rate to be less than c% within time t. In the case of climbing, the torque priority mode is selected, which adjusts the motor torque based on the real-time tilt angle of the vehicle body and increases the output current of the drive power supply to the rated value. In muddy conditions, select the anti-slip and get-out-of-trouble mode to increase the torque of the wheel corresponding to the motor's real-time speed fluctuation rate within time t that is greater than b%, and reduce the torque of other wheels. For long-distance transfer scenarios, select the energy-saving cruise mode, which adjusts the motor output power based on the remaining power of the drive power supply. For other scenarios, select the load protection mode to reduce the motor speed, torque, and drive power supply output current to below the rated value for a duration of t0.

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